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refactor(mrm_emergency_stop_operator): rework parameter #8937

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refactor(mrm_emergency_stop_operator): rework parameter #8937

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Description

Implement the ROS Node configuration layout described in Autoware Foundation Discussion #3371 for the mrm_emergency_stop_operator package.

  • Remove duplication of parameter declaration between the source code and the parameter file.
  • Remove the default value from the source code to ensure all parameter values are passed from the parameter files.
  • Use types that match those returned from declare_parameter() to prevent confusion and potential coding errors.
  • Move the default parameter file to a standardized location. Use the JSON Schema for that.

Tests performed

No.

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@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:system System design and integration. (auto-assigned) labels Sep 21, 2024
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prakash-kannaiah and others added 25 commits October 9, 2024 10:36
@prakash-kannaiah
refactor/mrm_emergency_stop_operator
6c7a4d5 
Signed-off-by: prakash-kannaiah <[email protected]>
@prakash-kannaiah
mrm_emergency_stop_operator.schema.json
4fb9d36 
Signed-off-by: prakash-kannaiah <[email protected]>
@prakash-kannaiah
mrm_emergency_stop_operator.schema.json
177b9bc 
Signed-off-by: prakash-kannaiah <[email protected]>
@pre-commit-ci @prakash-kannaiah
style(pre-commit): autofix
c80d1c4 
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@prakash-kannaiah
mrm_emergency_stop_operator.schema.json
4402c73 
Signed-off-by: prakash-kannaiah <[email protected]>
@xmfcx @prakash-kannaiah
ci(build-and-test): reset ccache stats before build (autowarefoundati…
c30c446 
…on#8761)

Signed-off-by: M. Fatih Cırıt <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@badai-nguyen @prakash-kannaiah
fix(autoware_compare_map_segmentation): typo bug fix (autowarefoundat…
9b960c6 
…ion#8939)

fix(compare_map_filter): typo bug fix

Signed-off-by: badai-nguyen <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@technolojin @prakash-kannaiah
fix(autoware_image_projection_based_fusion): roi cluster fusion has n…
928cd78 
…o existence probability update (autowarefoundation#8864)

fix: add existence probability update, refactoring

Signed-off-by: Taekjin LEE <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@TetsuKawa @prakash-kannaiah
feat(system_error_monitor): remove system error monitor (autowarefoun…
2af09c3 
…dation#8929)

* feat: delete-system-error-monitor-from-autoware

Signed-off-by: TetsuKawa <[email protected]>

* feat: remove unnecessary params

---------

Signed-off-by: TetsuKawa <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@kobayu858 @prakash-kannaiah
fix(tier4_state_rviz_plugin): fix unmatchedSuppression (autowarefound…
bc302d0 
…ation#8921)

fix:unmatchedSuppression

Signed-off-by: kobayu858 <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@prakash-kannaiah @pre-commit-ci
refactor(ad_api_adaptors): rework parameter (autowarefoundation#8796)
090ab6e 
* refactor(ad_api_adaptors): rework parameter

* <refactor(ad_api_adaptors): rework parameter>

* ad_api_adaptors.schema.json

* style(pre-commit): autofix

* refactor(ad_api_adaptors): rework parameter

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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@badai-nguyen @pre-commit-ci @prakash-kannaiah
chore(compare_map_segmentation): add node tests (autowarefoundation#8907
a2ffc99 
)

* chore(compare_map_segmentation): add test for voxel_based_compare_map_filter

Signed-off-by: badai-nguyen <[email protected]>

* feat: add test for other compare map filter

Signed-off-by: badai-nguyen <[email protected]>

* style(pre-commit): autofix

---------

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@danielsanchezaran @prakash-kannaiah
docs(autonomous_emergency_braking): add missing params to README (aut…
2922a91 
…owarefoundation#8950)

add missing params

Signed-off-by: Daniel Sanchez <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@mkquda @zulfaqar-azmi-t4 @prakash-kannaiah
refactor(lane_change): refactor getLaneChangePaths function (autoware…
ab2a9d4 
…foundation#8909)

* refactor lane change utility funcions

Signed-off-by: mohammad alqudah <[email protected]>

* LC utility function to get distance to next regulatory element

Signed-off-by: mohammad alqudah <[email protected]>

* don't activate LC module when close to regulatory element

Signed-off-by: mohammad alqudah <[email protected]>

* modify threshold distance calculation

Signed-off-by: mohammad alqudah <[email protected]>

* move regulatory element check to canTransitFailureState() function

Signed-off-by: mohammad alqudah <[email protected]>

* always run LC module if approaching terminal point

Signed-off-by: mohammad alqudah <[email protected]>

* use max possible LC length as threshold

Signed-off-by: mohammad alqudah <[email protected]>

* update LC readme

Signed-off-by: mohammad alqudah <[email protected]>

* refactor implementation

Signed-off-by: mohammad alqudah <[email protected]>

* update readme

Signed-off-by: mohammad alqudah <[email protected]>

* refactor checking data validity

Signed-off-by: mohammad alqudah <[email protected]>

* refactor sampling of prepare phase metrics and lane changing phase metrics

Signed-off-by: mohammad alqudah <[email protected]>

* add route handler function to get pose from 2d arc length

Signed-off-by: mohammad alqudah <[email protected]>

* refactor candidate path generation

Signed-off-by: mohammad alqudah <[email protected]>

* refactor candidate path safety check

Signed-off-by: mohammad alqudah <[email protected]>

* fix variable name

Signed-off-by: mohammad alqudah <[email protected]>

* Update planning/autoware_route_handler/src/route_handler.cpp

Co-authored-by: Zulfaqar Azmi <[email protected]>

* correct parameter name

Signed-off-by: mohammad alqudah <[email protected]>

* set prepare segment velocity after taking max path velocity value

Signed-off-by: mohammad alqudah <[email protected]>

* update LC README

Signed-off-by: mohammad alqudah <[email protected]>

* minor changes

Signed-off-by: mohammad alqudah <[email protected]>

* check phase length difference with previos valid candidate path

Signed-off-by: mohammad alqudah <[email protected]>

* change logger name

Signed-off-by: mohammad alqudah <[email protected]>

* change functions names to snake case

Signed-off-by: mohammad alqudah <[email protected]>

* use snake case for function names

Signed-off-by: mohammad alqudah <[email protected]>

* add colors to flow chart in README

Signed-off-by: mohammad alqudah <[email protected]>

---------

Signed-off-by: mohammad alqudah <[email protected]>
Co-authored-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@badai-nguyen @prakash-kannaiah
chore(perception_utils): add unit test (autowarefoundation#8414)
0c20fa4 
Signed-off-by: badai-nguyen <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@go-sakayori @prakash-kannaiah
test(raw_vehicle_cmd_converter): add tests (autowarefoundation#8951)
6d21169 
* remove header file according to clangd warning

Signed-off-by: Go Sakayori <[email protected]>

* add test

Signed-off-by: Go Sakayori <[email protected]>

* fix

Signed-off-by: Go Sakayori <[email protected]>

* add test for get function

Signed-off-by: Go Sakayori <[email protected]>

* apply clang tidy

Signed-off-by: Go Sakayori <[email protected]>

* fix test content

Signed-off-by: Go Sakayori <[email protected]>

---------

Signed-off-by: Go Sakayori <[email protected]>
Signed-off-by: Go Sakayori <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@kobayu858 @prakash-kannaiah
fix(tier4_camera_view_rviz_plugin): fix unmatchedSuppression (autowar…
6962ccd 
…efoundation#8918)

fix:unmatchedSuppression

Signed-off-by: kobayu858 <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@mitukou1109 @prakash-kannaiah
feat(autoware_universe_utils): reduce dependence on Boost.Geometry (a…
da57b00 
…utowarefoundation#8592)

* add find_farthest()

Signed-off-by: mitukou1109 <[email protected]>

* add simplify()

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* add envelope()

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* (WIP) add buffer()

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* add Polygon2d class

Signed-off-by: mitukou1109 <[email protected]>

* change input type of envelope()

Signed-off-by: mitukou1109 <[email protected]>

* disable convexity check until correct() supports non-convex polygons

Signed-off-by: mitukou1109 <[email protected]>

* add is_clockwise()

Signed-off-by: mitukou1109 <[email protected]>

* make correct() support non-convex polygons

Signed-off-by: mitukou1109 <[email protected]>

* fix test case

Signed-off-by: mitukou1109 <[email protected]>

* Revert "(WIP) add buffer()"

This reverts commit 123b0ba.

Signed-off-by: mitukou1109 <[email protected]>

---------

Signed-off-by: mitukou1109 <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@ismetatabay @prakash-kannaiah
feat(autonomous_emergency_braking): calculate the object's velocity i…
f1b78b7 
…n the search area (autowarefoundation#8591)

* refactor PR

Signed-off-by: ismetatabay <[email protected]>

* WIP

Signed-off-by: ismetatabay <[email protected]>

* change using polygon to lateral offset

Signed-off-by: ismetatabay <[email protected]>

* improve code

Signed-off-by: ismetatabay <[email protected]>

* remove redundant code

Signed-off-by: ismetatabay <[email protected]>

* skip close points in MPC path generation

Signed-off-by: ismetatabay <[email protected]>

* fix empty path points in short parking scenario

Signed-off-by: ismetatabay <[email protected]>

* fix readme conflicts

Signed-off-by: ismetatabay <[email protected]>

---------

Signed-off-by: ismetatabay <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@go-sakayori @prakash-kannaiah
fix(static_obstacle_avoidance): remove redundant calculation (autowar…
eb11157 
…efoundation#8955)

remove redundant calculation

Signed-off-by: Go Sakayori <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@kobayu858 @prakash-kannaiah
fix(autoware_behavior_path_lane_change_module): fix unusedFunction (a…
668290f 
…utowarefoundation#8960)

* fix:unusedFunction

Signed-off-by: kobayu858 <[email protected]>

* fix:unusedFunction

Signed-off-by: kobayu858 <[email protected]>

* fix:unusedFunction

Signed-off-by: kobayu858 <[email protected]>

* fix:pre_commit

Signed-off-by: kobayu858 <[email protected]>

---------

Signed-off-by: kobayu858 <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@kobayu858 @prakash-kannaiah
ci(cppcheck): remove unnecessary suppressions (autowarefoundation#8964)
97d44ed 
fix:suppressions

Signed-off-by: kobayu858 <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@YoshiRi @prakash-kannaiah
chore(autoware_deteted_object_feature_remover): add code owners (auto…
e0ed23b 
…warefoundation#8962)

Add yoshiri and kotaro as code owners of feature remover

Signed-off-by: yoshiri <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@yuki-takagi-66 @prakash-kannaiah
fix(crosswalk): change exceptional handling (autowarefoundation#8956)
fd2ba51 
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@go-sakayori @prakash-kannaiah
fix(simple_planning_simulator, raw_vehicle_cmd_converter): swap row i…
de1adfe 
…ndex and column index for csv loader (autowarefoundation#8963)

swap row and column

Signed-off-by: Go Sakayori <[email protected]>
Signed-off-by: prakash-kannaiah <[email protected]>
@github-actions github-actions bot added component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:localization Vehicle's position determination in its environment. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:vehicle Vehicle-specific implementations, drivers, packages. (auto-assigned) type:ci Continuous Integration (CI) processes and testing. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) tag:require-cuda-build-and-test labels Oct 9, 2024
@prakash-kannaiah prakash-kannaiah deleted the refactor/mrm_emergency_stop_operator branch October 10, 2024 09:52
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component:common Common packages from the autoware-common repository. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:localization Vehicle's position determination in its environment. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:simulation Virtual environment setups and simulations. (auto-assigned) component:system System design and integration. (auto-assigned) component:vehicle Vehicle-specific implementations, drivers, packages. (auto-assigned) tag:require-cuda-build-and-test type:ci Continuous Integration (CI) processes and testing. (auto-assigned) type:documentation Creating or refining documentation. (auto-assigned)
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